I have scanned the car with an OBDII and don't have any codes concerning either of these systems. The lights will come on for a while and then go back out. Most of the time (but not all) the car will go into "Limp Mode" while these lights are on. I have cleaned ABS sensors and all brake parts but still getting the problem. I have seen a few threads regarding similar issues but it seems there is no definitive problem. Any suggestions/help would be much appreciated. Located on Central Coast Cali if anyone has a VAGCOM or knowledge of this problem and is willing to help. Thanks in advance